Pambudi, Arga Dwi (2019) Desain Pengolahan Data Multisensor Menggunakan Fuzzy Q-Learning Untuk Sistem Navigasi Mobile Robot. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Mobile robot merupakan alat yang sering dipakai di dalam banyak bidang kehidupan manusia. Untuk menunjang kebutuhan manusia, penelitian tentang mobile robot dikembangkan dalam berbagai bidang dengan permasalahan yang sering terjadi adalah pada sistem navigasi, dimana robot bisa menuju ke titik tujuan tanpa menabrak halangan. Salah satu metode yang digunakan adalah Fuzzy QLearning menggunakan reinforcement learning sehingga robot bisa belajar secara mandiri menggunakan sensor pada robot dengan melihat kondisi yang terjadi. Pada beberapa penelitian terdapat perbedaan dalam pemilihan desain dari penggunaan FQL yang digunakan, sehingga perlu dilakukan penelitian untuk membandingkan desain yang dibuat. Pada Tesis ini membandingkan hasil antara penggunaan penalaan reinforcement poin menggunakan perubahan state terakhir dan 3 sudut region.
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Mobile robots are device that are often used in many areas of human life. In order to support human needs, research on mobile robots developed in various fields with problems that often occur is in the navigation system, where the robot can go to the destination without colliding obstacles. One of the methods is Fuzzy Q-Learning using reinforcement learning so that robots can learn independently using sensors on robots by looking at the conditions that occur. In some research there are differences in the selection of designs from the use of FQL, so it is necessary to do research to compare the designs. In this thesis, the comparative of the results of using tuning reinforcement points using transition changes (
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.893 2 Pam d-1 2019 |
| Uncontrolled Keywords: | Reinforcement Learning, Q-Learning, Fuzzy |
| Subjects: | Q Science > QA Mathematics > QA9.64 Fuzzy logic T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Arga Dwi Pambudi |
| Date Deposited: | 13 Jul 2021 16:05 |
| Last Modified: | 13 Jul 2021 16:09 |
| URI: | http://repository.its.ac.id/id/eprint/60942 |
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